WO2020155643A1 - Self-powered active-passive compound rotating inertia drive control system - Google Patents

Self-powered active-passive compound rotating inertia drive control system Download PDF

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Publication number
WO2020155643A1
WO2020155643A1 PCT/CN2019/105659 CN2019105659W WO2020155643A1 WO 2020155643 A1 WO2020155643 A1 WO 2020155643A1 CN 2019105659 W CN2019105659 W CN 2019105659W WO 2020155643 A1 WO2020155643 A1 WO 2020155643A1
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passive
active
moment
output module
control system
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PCT/CN2019/105659
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French (fr)
Chinese (zh)
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张春巍
王昊
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青岛理工大学
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Publication of WO2020155643A1 publication Critical patent/WO2020155643A1/en

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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
    • F16F15/10—Suppression of vibrations in rotating systems by making use of members moving with the system
    • F16F15/16—Suppression of vibrations in rotating systems by making use of members moving with the system using a fluid or pasty material
    • F16F15/167—Suppression of vibrations in rotating systems by making use of members moving with the system using a fluid or pasty material having an inertia member, e.g. ring
    • F16F15/173—Suppression of vibrations in rotating systems by making use of members moving with the system using a fluid or pasty material having an inertia member, e.g. ring provided within a closed housing

Definitions

  • the invention relates to the field of vibration suppression in a system, and in particular to a self-powered active and passive composite moment of inertia drive control system.
  • Vibration is a common phenomenon in life. Engineering facilities and structures will often vibrate due to external loads during use, causing severe sway or even damage. In order to solve various problems caused by the vibration of the structure, vibration control technology came into being.
  • Structural vibration control technology is mainly divided into the following four aspects: active control, passive control, semi-active control and hybrid control.
  • active control passive control
  • semi-active control hybrid control
  • proper safety vibration control system can effectively reduce the dynamic response of the structure and reduce the damage or fatigue damage of the structure.
  • the movement of the structure is usually a combination of translation and torsion swing.
  • the structural vibration control system has an indispensable role, but the existing structural vibration control system has the following shortcomings: First, the translational TMD control device can only control the translational motion of the structure and affect the swing The control is invalid. Although the translational AMD control device can control the swing vibration, the control efficiency is extremely low and cannot meet the requirements of use; second, the passive moment of inertia tuned damper is effective for the control of the swing vibration movement, but it needs to be carried out for the structure itself Complicated frequency modulation has low control efficiency and poor effect on some complex structures.
  • control system has shortcomings such as low robustness, low controllability, and small application range; third, the control system has a small application range, limited control force output, and control The effect is limited, and the energy utilization rate of the control system cannot be guaranteed, which cannot meet the economic needs. Fourth, although the active (rotating) control device can solve the above three problems, there is a risk of the accidental energy cut-off control system completely failing.
  • the present invention was produced under this background.
  • the main purpose of the present invention is to provide a self-powered active and passive combined moment of inertia drive control system for the above problems.
  • the self-powered active and passive composite moment of inertia drive control system of the present invention includes an active output module and a passive output module.
  • the active output module includes a driver, an encoder, a transmission and an active moment of inertia disc;
  • the passive output module includes Torsional variable damping box, generator, energy storage unit and passive moment of inertia disc;
  • a system lumen is arranged between the active moment of inertia disc and the passive moment of inertia disc, and the active output module and the passive output module are symmetrically distributed along the center of the system lumen;
  • the driver is fixed on one side of the system lumen.
  • One end of the driver is equipped with an encoder, and the other end is connected with the transmission.
  • the drive shaft of the driver passes through the transmission and is vertically fixed at the center of the active moment of inertia disk;
  • the torsion variable damping box includes an outer connecting plate, an inner connecting plate, an outer sleeve, an inner sleeve and a torsion spring.
  • the outer connecting plate is fixed at the center of the passive moment of inertia disc
  • the inner connecting plate is fixed at the end of the system lumen
  • the inner sleeve The cylinder is fixedly connected with the inner connecting plate
  • the outer sleeve is fixedly connected with the outer connecting plate
  • the inner sleeve is coaxial with the outer sleeve
  • the outer sleeve is sleeved on the outside of the inner sleeve.
  • the two ends are closed by oil-sealed bearings.
  • a closed damping fluid tank is formed between the damping fluid tank, and the damping fluid tank is filled with damping fluid;
  • the torsion spring is arranged in the damping fluid tank, wound around the inner sleeve, one end is fixed to the outer connecting plate, and the other end is fixed to the inner sleeve;
  • the generator is fixed on the other side of the system lumen, coaxial with the driver, the generator shaft passes through the system lumen, inner connecting plate and inner sleeve in turn, and then fixedly connected with the outer connecting plate;
  • An energy storage unit is also installed on the generator, and the energy storage unit is also connected to the drive.
  • the driver is fixed in the lumen of the system through the driver fixing frame.
  • the generator is fixed in the system lumen through the generator fixing frame.
  • the present invention also includes a controller, which is respectively connected to the energy storage unit, generator, driver and encoder.
  • a liquid injection hole is provided on the outer sleeve for filling the damping liquid.
  • the active moment of inertia disc and the passive moment of inertia disc are parallel to the rotating surface of the controlled structure.
  • the active moment of inertia disc and the passive moment of inertia disc rotate coaxially, and when the rotation directions are opposite, the control force in the same direction is generated.
  • the driver is a servo motor or a stepping motor.
  • the control system of the present invention adopts self-powered technology, which can realize the synergy of the active module and the passive module without relying on external energy;
  • the control system of the present invention can realize active and passive composite control, and can realize vibration control under complex conditions. Compared with active control, combined with passive control technology, it has greater stability and energy saving;
  • the control system of the present invention is suitable for the situation where the structure undergoes rotation, torsion, or swing vibration, and has a wide range of applications.
  • Figure 1 is a schematic diagram of the overall structure of the present invention.
  • Figure 2 is a front view of the present invention
  • Figure 3 is a schematic diagram of the torsional variable damping box structure
  • Figure 4 is a schematic diagram of the present invention installed in the pendulum structure
  • the above drawings include the following reference signs: 1. Drive; 2. Encoder; 3. Transmission; 4. Active moment of inertia disc; 5. Torsional variable damping box; 6. Generator; 7. Energy storage unit; 8. Passive moment of inertia disc; 9. System lumen; 10. Drive fixing frame; 11. Outer connecting plate; 12. Inner connecting plate; 13. Outer sleeve; 14. Inner sleeve; 15. Torsion spring; 16 , Liquid injection hole; 17, generator fixing frame; 18, controller; 19, controlled structure.
  • the self-powered active and passive composite moment of inertia drive control system of the present invention includes an active output module and a passive output module.
  • the active output module includes a driver 1, an encoder 2, a transmission 3, and an active moment of inertia disc 4;
  • the passive output module includes a torsion variable damping box 5, a generator 6, an energy storage unit 7 and a passive moment of inertia disc 8;
  • a system lumen 9 is arranged between the active moment of inertia disc and the passive moment of inertia disc.
  • the active output module and the passive output module are symmetrically distributed along the center of the system lumen; the controlled structure 19 is fixed at the center of the system lumen, and the active moment of inertia Both the disc and the passive moment of inertia disc are parallel to the rotating surface of the controlled structure.
  • the driver is fixed on one side of the system lumen by the driver fixing frame 10.
  • One end of the driver is equipped with an encoder, and the other end is connected with the transmission.
  • the drive shaft of the driver passes through the transmission and is vertically fixed at the center of the active moment of inertia disk; the driver is a servo motor Or stepper motor.
  • the torsion variable damping box includes an outer connecting plate 11, an inner connecting plate 12, an outer sleeve 13, an inner sleeve 14 and a torsion spring 15.
  • the outer connecting plate is fixed at the center of the passive moment of inertia disc by bolts, and the inner connecting plate is fixed by bolts
  • the inner sleeve is fixedly connected with the inner connecting plate
  • the outer sleeve is fixedly connected with the outer connecting plate
  • the inner sleeve is coaxial with the outer sleeve
  • the outer sleeve is sleeved outside the inner sleeve, and both ends pass through
  • the oil seal bearing is closed, and a closed damping fluid tank is formed between the two sleeves.
  • the outer sleeve is provided with a liquid injection hole 16 for filling the damping fluid tank with the damping fluid; the torsion spring is arranged in the damping fluid tank along the inner edge
  • the sleeve is wound, one end is fixed to the outer connecting plate, and the other end is fixed to the inner sleeve; by changing the viscosity of the damping fluid in the torsion variable damping box and the stiffness of the torsion spring, the purpose of changing the damping can be achieved for frequency modulation.
  • the generator is fixed on the other side of the system lumen through the generator fixing frame 17, coaxial with the driver, the generator shaft passes through the system lumen, the inner connecting plate and the inner sleeve in turn, and then is fixedly connected to the outer connecting plate;
  • An energy storage unit 7 is also installed on the generator.
  • the energy storage unit is also connected to the drive.
  • the energy storage unit is a battery.
  • the passive moment of inertia disc rotates to generate control force and drive the generator to rotate to generate electrical energy.
  • the self-powered active and passive composite moment of inertia drive control system of the present invention further includes a controller 18, which is respectively connected with the energy storage unit, generator, driver and encoder.
  • a sensor is also provided at the hanging point to collect the rotation data of the controlled structure.
  • the sensor here can be, but is not limited to Photoelectric shaft encoder, angular acceleration sensor or gyroscope.
  • the passive output module can work alone to achieve the vibration control requirements.
  • the generated electric energy is stored in the battery to reserve energy for the active output module.
  • the sensor will detect The response of the structure is fed back to the controller, and the controller determines whether the active output module needs to be turned on.
  • the active output module starts to work, and the active output module can move according to the real-time measured structure State, control the rotation of the moment of inertia disc, adjust the control torque acting on the controlled structure, adjust the drive energy output, control the vibration of the structure, and ensure high control efficiency.
  • the active moment of inertia disc and the passive moment of inertia disc rotate coaxially, and the direction of rotation is opposite to produce the control force in the same direction.
  • the active and passive output modules play a control role at the same time, which produces a good effect of compound control and realizes vibration control. purpose. As the active output module turns on and takes effect, the structural response decreases and gradually enters the range where the passive output module can perform. The sensor feeds back to the controller in real time, the active output module stops working, and the passive output module keeps working until it reaches control. effect.
  • control system of the present invention can be applied to the following but not limited to the following basic prototype motion models of mechanical problems: free swing of a simple pendulum structure; vibration of a constrained inverted pendulum structure; fixed-axis rotation of a rigid body around an arbitrary axis in space, etc.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Acoustics & Sound (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Vibration Prevention Devices (AREA)

Abstract

A self-powered active-passive compound rotating inertia drive control system, which comprises an active output module and a passive output module, wherein the active output module comprises a driver (1), an encoder (2), a transmission (3) and an active rotating inertial disc (4); the passive output module comprises a torsional variable damping box (5), a generator (6), an energy storage unit (7) and a passive rotating inertia disc (8); a system pipe cavity (9) is arranged between the active rotating inertia disc (4) and the passive rotating inertia disc (8), and the active output module and the passive output module are symmetrically distributed along the center of the system pipe cavity (9). The control system adopts a self-powered technology, can realize the synergistic effect of the active module and the passive module, and does not need to rely on external energy; the control system can realize active and passive compound control, and realize the vibration control under complex conditions, and the combination with the passive control technology provides better stability compared with active control.

Description

自供能式主被动复合转动惯量驱动控制***Self-powered active and passive composite moment of inertia drive control system 技术领域Technical field
本发明涉及***中振动的抑制领域，具体而言，涉及一种自供能式主被动复合转动惯量驱动控制***。The invention relates to the field of vibration suppression in a system, and in particular to a self-powered active and passive composite moment of inertia drive control system.
背景技术Background technique
振动是生活中常见的一种现象，工程设施、结构在使用过程中往往会由于外部荷载的作用产生振动，严重的产生摇摆，甚至破坏。为了解决由结构物振动引起的各种问题，振动控制技术应运而生。Vibration is a common phenomenon in life. Engineering facilities and structures will often vibrate due to external loads during use, causing severe sway or even damage. In order to solve various problems caused by the vibration of the structure, vibration control technology came into being.
结构振动控制技术主要分为以下四个方面：主动控制、被动控制、半主动控制以及混合控制。对于各种工程结构，恰当地安全振动控制***能够有效地减轻结构的动力响应，减轻结构的破坏或者疲劳损伤。Structural vibration control technology is mainly divided into the following four aspects: active control, passive control, semi-active control and hybrid control. For various engineering structures, proper safety vibration control system can effectively reduce the dynamic response of the structure and reduce the damage or fatigue damage of the structure.
结构的运动通常由平动以及扭转摆动组合而成。研究表明由于平动调谐质量阻尼器(英文名Tuned Mass Damper，TMD)、主动质量阻尼器/主动扭矩输出装置(英文名Active Mass Damper/Driver，AMD)在扭转摆动中由于需要提供向心力导致控制效果大大减弱甚至完全失去作用，对回转摆振控制几乎无效。然而具有回转摆振运动特性的结构运动形式极为常见，如：悬吊结构(吊钩、吊车等)的摆动；不规则建筑在风荷载作用下的扭转摆振；海洋平台在海浪、风、冰等耦合作用下的扭转摆振等；宇宙飞船、空间结构在运行过程中，由于自身姿势调整以及太阳能帆板打开引起的扭转摆振运动；高速铁路机车，由于微小激励引起的车身的扭转摆振运动等。因此需要一种特殊的控制***，使其可以自动克服(或摆脱)重力场对控制***自身的影响(离心力作用)，或者使控制***自身的工作/运动规律与重力场解耦，***自振不受重力影响，从而发挥控制***有效控制作用。The movement of the structure is usually a combination of translation and torsion swing. Studies have shown that due to translational tuned mass damper (English name Tuned Mass Damper, TMD), active mass damper/active torque output device (English name Active Mass Damper/Driver, AMD) in torsional swing, the need to provide centripetal force leads to control effects It is greatly weakened or even completely lost, and it is almost ineffective in controlling the swing vibration. However, structural motion forms with slewing vibration characteristics are extremely common, such as: the swing of suspended structures (hooks, cranes, etc.); the torsional shimmy of irregular buildings under wind loads; offshore platforms in waves, wind, and ice Torsional shimmy under the coupling action of the same; spacecraft and space structure during operation, the torsional shimmy motion caused by the adjustment of their own posture and the opening of solar panels; high-speed railway locomotive, the torsional shimmy of the body caused by small excitation Sports etc. Therefore, a special control system is needed that can automatically overcome (or get rid of) the influence of the gravity field on the control system itself (centrifugal force), or decouple the work/motion law of the control system itself from the gravity field, and the system can vibrate naturally It is not affected by gravity, thus exerting the effective control function of the control system.
主动控制技术因其具备控制效果好、鲁棒性好等优点，近年来发展迅速。但是，在技术的研究和实践过程中，人们发现由于主动控制装置需要外部能源来驱动工作，在工程结构遭到破坏时，能源的供应被意外切断会导致主动控制装置的完全失效。Active control technology has developed rapidly in recent years because of its good control effect and robustness. However, in the process of technical research and practice, people found that because the active control device needs external energy to drive the work, when the engineering structure is damaged, the accidental cut off of the energy supply will cause the active control device to completely fail.
综上，结构振动控制***具有不可或缺的作用，但是现有的结构振动控制***具有以下几方面的不足：第一，平动TMD控制装置只能控制结构的平动运动而对回转摆振控制无效，平动AMD控制装置虽然可以控制回转摆振，但是控制效率极低，无法满足使用要求；第二，被动转动惯量调谐阻尼器对回转摆振运动控制有效，但是其需要针对结构自身进行复杂的调频，对某些复杂结构控制效率较低，效果不佳，存在鲁棒性低，可控性低，适用范围小等缺点；第三，控制***适用范围小，控制力输出有限，控制效果有限，且控制***能源利用率无法保证，无法满足经济性的需求；第四，主动(转动)控制装置虽然能解决上述三方面问题，但是，存在意外能源切断控制***完全失效的风险。In summary, the structural vibration control system has an indispensable role, but the existing structural vibration control system has the following shortcomings: First, the translational TMD control device can only control the translational motion of the structure and affect the swing The control is invalid. Although the translational AMD control device can control the swing vibration, the control efficiency is extremely low and cannot meet the requirements of use; second, the passive moment of inertia tuned damper is effective for the control of the swing vibration movement, but it needs to be carried out for the structure itself Complicated frequency modulation has low control efficiency and poor effect on some complex structures. It has shortcomings such as low robustness, low controllability, and small application range; third, the control system has a small application range, limited control force output, and control The effect is limited, and the energy utilization rate of the control system cannot be guaranteed, which cannot meet the economic needs. Fourth, although the active (rotating) control device can solve the above three problems, there is a risk of the accidental energy cut-off control system completely failing.
本发明就是在这样的背景下产生的。The present invention was produced under this background.
发明内容Summary of the invention
本发明的主要目的在于针对上述问题提供一种自供能式的主被动复合的转动惯量驱动控制***。The main purpose of the present invention is to provide a self-powered active and passive combined moment of inertia drive control system for the above problems.
为了实现上述目的，本发明的自供能式主被动复合转动惯量驱动控制***，包括主动出力模块和被动出力模块，主动出力模块包括驱动器、编码器、变速器和主动转动惯量圆盘；被动出力模块包括扭转变阻尼箱、发电机、储能单元和被动转动惯量圆盘；In order to achieve the above objectives, the self-powered active and passive composite moment of inertia drive control system of the present invention includes an active output module and a passive output module. The active output module includes a driver, an encoder, a transmission and an active moment of inertia disc; the passive output module includes Torsional variable damping box, generator, energy storage unit and passive moment of inertia disc;
主动转动惯量圆盘和被动转动惯量圆盘之间设置有***管腔，主动出力 模块和被动出力模块沿***管腔中心对称分布；A system lumen is arranged between the active moment of inertia disc and the passive moment of inertia disc, and the active output module and the passive output module are symmetrically distributed along the center of the system lumen;
驱动器固定在***管腔内一侧，驱动器一端安装有编码器，另一端与变速器连接，驱动器的驱动轴穿过变速器与主动转动惯量盘的中心处垂直固定；The driver is fixed on one side of the system lumen. One end of the driver is equipped with an encoder, and the other end is connected with the transmission. The drive shaft of the driver passes through the transmission and is vertically fixed at the center of the active moment of inertia disk;
扭转变阻尼箱包括外连接板、内连接板、外套筒、内套筒和扭转弹簧，外连接板固定在被动转动惯量圆盘中心处，内连接板固定在***管腔端部，内套筒与内连接板固定连接，外套筒与外连接板固定连接，内套筒与外套筒同轴，外套筒套在内套筒外侧，两端通过油封轴承封闭，两个套筒之间形成封闭的阻尼液仓，阻尼液仓内填充有阻尼液；扭转弹簧设置于阻尼液仓内，沿内套筒缠绕，一端与外连接板固定，另一端固定在内套筒上；The torsion variable damping box includes an outer connecting plate, an inner connecting plate, an outer sleeve, an inner sleeve and a torsion spring. The outer connecting plate is fixed at the center of the passive moment of inertia disc, the inner connecting plate is fixed at the end of the system lumen, and the inner sleeve The cylinder is fixedly connected with the inner connecting plate, the outer sleeve is fixedly connected with the outer connecting plate, the inner sleeve is coaxial with the outer sleeve, and the outer sleeve is sleeved on the outside of the inner sleeve. The two ends are closed by oil-sealed bearings. A closed damping fluid tank is formed between the damping fluid tank, and the damping fluid tank is filled with damping fluid; the torsion spring is arranged in the damping fluid tank, wound around the inner sleeve, one end is fixed to the outer connecting plate, and the other end is fixed to the inner sleeve;
发电机固定在***管腔内另一侧，与驱动器同轴，发电机转轴依次穿过***管腔、内连接板和内套筒后与外连接板固定连接；The generator is fixed on the other side of the system lumen, coaxial with the driver, the generator shaft passes through the system lumen, inner connecting plate and inner sleeve in turn, and then fixedly connected with the outer connecting plate;
发电机上还安装有储能单元，储能单元还与驱动器连接。An energy storage unit is also installed on the generator, and the energy storage unit is also connected to the drive.
进一步的，驱动器通过驱动器固定架固定在***管腔内。Further, the driver is fixed in the lumen of the system through the driver fixing frame.
进一步的，发电机通过发电机固定架固定在***管腔内。Further, the generator is fixed in the system lumen through the generator fixing frame.
进一步的，本发明还包括控制器，控制器分别与储能单元、发电机、驱动器和编码器连接。Further, the present invention also includes a controller, which is respectively connected to the energy storage unit, generator, driver and encoder.
进一步的，外套筒上设置有注液孔，用于填充阻尼液。Further, a liquid injection hole is provided on the outer sleeve for filling the damping liquid.
进一步的，内套筒和内连接板均不与发电机转轴发生接触。Further, neither the inner sleeve nor the inner connecting plate makes contact with the generator shaft.
进一步的，主动转动惯量圆盘和被动转动惯量圆盘平行于被控结构转动面。Further, the active moment of inertia disc and the passive moment of inertia disc are parallel to the rotating surface of the controlled structure.
进一步的，主动转动惯量圆盘和被动转动惯量圆盘同轴转动，转动方向 相反时，产生相同方向的控制力。Further, the active moment of inertia disc and the passive moment of inertia disc rotate coaxially, and when the rotation directions are opposite, the control force in the same direction is generated.
进一步的，驱动器为伺服电机或步进电机。Further, the driver is a servo motor or a stepping motor.
本发明具有以下有益效果：The present invention has the following beneficial effects:
(1)本发明的控制***采用自供能技术，可以实现主动模块与被动模块的协同作用，且不需要依赖外部能量；(1) The control system of the present invention adopts self-powered technology, which can realize the synergy of the active module and the passive module without relying on external energy;
(2)本发明的被动出力模块中阻尼可调节，可根据被控结构进行调频，具有适用范围广的特点；(2) The damping in the passive output module of the present invention can be adjusted, and the frequency can be adjusted according to the controlled structure, which has the characteristics of wide application range;
(3)本发明的控制***可以实现主、被动复合控制，能够实现复杂条件下的振动控制，且与主动控制相比，结合被动控制技术，具有更大的稳定性和节能性；(3) The control system of the present invention can realize active and passive composite control, and can realize vibration control under complex conditions. Compared with active control, combined with passive control technology, it has greater stability and energy saving;
(4)本发明的控制***适用于结构发生转动、扭转或回转摆振运动的情况，适用范围广。(4) The control system of the present invention is suitable for the situation where the structure undergoes rotation, torsion, or swing vibration, and has a wide range of applications.
附图说明Description of the drawings
图1是本发明整体结构示意图；Figure 1 is a schematic diagram of the overall structure of the present invention;
图2是本发明正视图；Figure 2 is a front view of the present invention;
图3是扭转变阻尼箱结构示意图；Figure 3 is a schematic diagram of the torsional variable damping box structure;
图4是本发明在单摆结构中安装示意图；Figure 4 is a schematic diagram of the present invention installed in the pendulum structure;
附图标记Reference number
其中，上述附图包括以下附图标记：1、驱动器；2、编码器；3、变速器；4、主动转动惯量圆盘；5、扭转变阻尼箱；6、发电机；7、储能单元；8、被动转动惯量圆盘；9、***管腔；10、驱动器固定架；11、外连接板；12、内连接板；13、外套筒；14、内套筒；15、扭转弹簧；16、注液孔；17、发电 机固定架；18、控制器；19、被控结构。Among them, the above drawings include the following reference signs: 1. Drive; 2. Encoder; 3. Transmission; 4. Active moment of inertia disc; 5. Torsional variable damping box; 6. Generator; 7. Energy storage unit; 8. Passive moment of inertia disc; 9. System lumen; 10. Drive fixing frame; 11. Outer connecting plate; 12. Inner connecting plate; 13. Outer sleeve; 14. Inner sleeve; 15. Torsion spring; 16 , Liquid injection hole; 17, generator fixing frame; 18, controller; 19, controlled structure.
具体实施方式detailed description
下面结合附图对本发明作进一步说明。The present invention will be further explained below in conjunction with the drawings.
本实施例以单摆结构模型为基本力学模型原型的结构为例；In this embodiment, a structure with a simple pendulum structure model as a basic mechanical model prototype is taken as an example;
如图1-4所示，本发明的自供能式主被动复合转动惯量驱动控制***包括主动出力模块和被动出力模块，主动出力模块包括驱动器1、编码器2、变速器3和主动转动惯量圆盘4；被动出力模块包括扭转变阻尼箱5、发电机6、储能单元7和被动转动惯量圆盘8；As shown in Figures 1-4, the self-powered active and passive composite moment of inertia drive control system of the present invention includes an active output module and a passive output module. The active output module includes a driver 1, an encoder 2, a transmission 3, and an active moment of inertia disc 4; The passive output module includes a torsion variable damping box 5, a generator 6, an energy storage unit 7 and a passive moment of inertia disc 8;
主动转动惯量圆盘和被动转动惯量圆盘之间设置有***管腔9，主动出力模块和被动出力模块沿***管腔中心对称分布；被控结构19固定在***管腔中心位置，主动转动惯量圆盘和被动转动惯量圆盘均平行于被控结构转动面。A system lumen 9 is arranged between the active moment of inertia disc and the passive moment of inertia disc. The active output module and the passive output module are symmetrically distributed along the center of the system lumen; the controlled structure 19 is fixed at the center of the system lumen, and the active moment of inertia Both the disc and the passive moment of inertia disc are parallel to the rotating surface of the controlled structure.
驱动器通过驱动器固定架10固定在***管腔内一侧，驱动器一端安装有编码器，另一端与变速器连接，驱动器的驱动轴穿过变速器与主动转动惯量盘的中心处垂直固定；驱动器为伺服电机或步进电机。The driver is fixed on one side of the system lumen by the driver fixing frame 10. One end of the driver is equipped with an encoder, and the other end is connected with the transmission. The drive shaft of the driver passes through the transmission and is vertically fixed at the center of the active moment of inertia disk; the driver is a servo motor Or stepper motor.
扭转变阻尼箱包括外连接板11、内连接板12、外套筒13、内套筒14和扭转弹簧15，外连接板通过螺栓固定在被动转动惯量圆盘中心处，内连接板通过螺栓固定在***管腔端部，内套筒与内连接板固定连接，外套筒与外连接板固定连接，内套筒与外套筒同轴，外套筒套在内套筒外侧，两端通过油封轴承封闭，两个套筒之间形成封闭的阻尼液仓，外套筒上设置有注液孔16，用于向阻尼液仓内填充阻尼液；扭转弹簧设置于阻尼液仓内，沿内套筒缠绕，一端与外连接板固定，另一端固定在内套筒上；通过改变扭转变阻尼箱内的 阻尼液的粘稠度和扭转弹簧刚度可以实现改变阻尼的目的进行调频。The torsion variable damping box includes an outer connecting plate 11, an inner connecting plate 12, an outer sleeve 13, an inner sleeve 14 and a torsion spring 15. The outer connecting plate is fixed at the center of the passive moment of inertia disc by bolts, and the inner connecting plate is fixed by bolts At the end of the system lumen, the inner sleeve is fixedly connected with the inner connecting plate, the outer sleeve is fixedly connected with the outer connecting plate, the inner sleeve is coaxial with the outer sleeve, and the outer sleeve is sleeved outside the inner sleeve, and both ends pass through The oil seal bearing is closed, and a closed damping fluid tank is formed between the two sleeves. The outer sleeve is provided with a liquid injection hole 16 for filling the damping fluid tank with the damping fluid; the torsion spring is arranged in the damping fluid tank along the inner edge The sleeve is wound, one end is fixed to the outer connecting plate, and the other end is fixed to the inner sleeve; by changing the viscosity of the damping fluid in the torsion variable damping box and the stiffness of the torsion spring, the purpose of changing the damping can be achieved for frequency modulation.
发电机通过发电机固定架17固定在***管腔内另一侧，与驱动器同轴，发电机转轴依次穿过***管腔、内连接板和内套筒后与外连接板固定连接；The generator is fixed on the other side of the system lumen through the generator fixing frame 17, coaxial with the driver, the generator shaft passes through the system lumen, the inner connecting plate and the inner sleeve in turn, and then is fixedly connected to the outer connecting plate;
内套筒和内连接板均不与发电机转轴发生接触，与发电机转轴脱离，即发电机只带动外连接板、外套筒和被动转动惯量圆盘转动，内连接板与内套筒均是固定的，不发生转动；Neither the inner sleeve nor the inner connecting plate comes into contact with the generator shaft, and is separated from the generator shaft, that is, the generator only drives the outer connecting plate, outer sleeve and passive moment of inertia disc to rotate, and the inner connecting plate and the inner sleeve are both Is fixed and does not rotate;
发电机上还安装有储能单元7，储能单元还与驱动器连接，储能单元为蓄电池，被动出力模块工作时，被动转动惯量圆盘发生回转运动，产生控制力，同时带动发电机转动产生电能，通过导线输入蓄电池中储存供主动出力模块使用。An energy storage unit 7 is also installed on the generator. The energy storage unit is also connected to the drive. The energy storage unit is a battery. When the passive output module is working, the passive moment of inertia disc rotates to generate control force and drive the generator to rotate to generate electrical energy. , Input the battery through the wire and store it for the active output module.
本发明的自供能式主被动复合转动惯量驱动控制***还包括控制器18，控制器分别与储能单元、发电机、驱动器和编码器连接。The self-powered active and passive composite moment of inertia drive control system of the present invention further includes a controller 18, which is respectively connected with the energy storage unit, generator, driver and encoder.
本实施例中，除了设置于驱动器尾端用于采集转动惯量转动数据的编码器，吊点处也设置有一个传感器，用来采集被控结构的转动数据，此处的传感器可以采用但不限于光电轴角编码器、角加速度传感器或者陀螺仪。In this embodiment, in addition to the encoder installed at the end of the driver for collecting rotational inertia data, a sensor is also provided at the hanging point to collect the rotation data of the controlled structure. The sensor here can be, but is not limited to Photoelectric shaft encoder, angular acceleration sensor or gyroscope.
通常情况下仅被动出力模块单独工作即可达到振动控制要求，工作的同时将产生的电能储存在蓄电池中为主动出力模块储备能量，当遇到复杂条件，结构响应较大时，传感器将监测到结构的响应反馈给控制器，控制器判断是否需要开启主动出力模块，当控制器判断被动出力模块已经无法满足结构的响应要求时，主动出力模块开始工作，主动出力模块可以根据实时测量的结构运动状态，控制转动惯量圆盘发生回转转动，调节作用在被控结构上的控制力矩，调节驱动能源输出大小，控制结构的振动，保证较高的控制效率。 此时，主动转动惯量圆盘和被动转动惯量圆盘同轴转动，转动方向相反，产生相同方向的控制力，主、被动出力模块同时发挥控制作用，产生复合控制的良好效果，实现振动控制的目的。随着主动出力模块开启并发挥作用，结构响应减小，逐渐进入被动出力模块所能发挥作用的范围内，传感器实时反馈给控制器，主动出力模块停止工作，被动出力模块保持工作，直到达到控制效果。Under normal circumstances, only the passive output module can work alone to achieve the vibration control requirements. At the same time, the generated electric energy is stored in the battery to reserve energy for the active output module. When encountering complex conditions and the structure response is large, the sensor will detect The response of the structure is fed back to the controller, and the controller determines whether the active output module needs to be turned on. When the controller determines that the passive output module cannot meet the response requirements of the structure, the active output module starts to work, and the active output module can move according to the real-time measured structure State, control the rotation of the moment of inertia disc, adjust the control torque acting on the controlled structure, adjust the drive energy output, control the vibration of the structure, and ensure high control efficiency. At this time, the active moment of inertia disc and the passive moment of inertia disc rotate coaxially, and the direction of rotation is opposite to produce the control force in the same direction. The active and passive output modules play a control role at the same time, which produces a good effect of compound control and realizes vibration control. purpose. As the active output module turns on and takes effect, the structural response decreases and gradually enters the range where the passive output module can perform. The sensor feeds back to the controller in real time, the active output module stops working, and the passive output module keeps working until it reaches control. effect.
本发明的控制***可以应用到以下但不限于以下的力学问题基本原型运动模型中：单摆结构的自由摆动；受约束倒立摆结构的振动；刚体绕空间任意轴的定轴转动等，在实际工程中如：悬吊结构(吊钩、吊车等)的摆动；不规则建筑在风荷载作用下的扭转摆振；海洋平台在海浪、风、冰等耦合作用下的扭转摇摆振动等；宇宙飞船、空间结构在运行过程中，由于自身姿势调整以及太阳能帆板打开引起的扭转摆振运动；高速铁路机车，在高速运行过程中，由于微小激励引起的车身的扭转摇摆振动运动等。The control system of the present invention can be applied to the following but not limited to the following basic prototype motion models of mechanical problems: free swing of a simple pendulum structure; vibration of a constrained inverted pendulum structure; fixed-axis rotation of a rigid body around an arbitrary axis in space, etc. Engineering such as: swing of suspended structures (hooks, cranes, etc.); torsional sway vibration of irregular buildings under wind loads; torsional sway vibrations of offshore platforms under the coupling action of waves, wind, ice, etc.; spacecraft , Space structure during the operation process, due to its own posture adjustment and the torsional swing motion caused by the opening of the solar panel; high-speed railway locomotives, during high-speed operation, the torsional swing vibration motion of the body caused by the small excitation, etc.
以上所述仅为本发明的优选实施例而已，并不用于限制本发明，对于本领域的技术人员来说，本发明可以有各种更改和变化。凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。The above are only preferred embodiments of the present invention and are not used to limit the present invention. For those skilled in the art, the present invention can have various modifications and changes. Any modification, equivalent replacement, improvement, etc., made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims (9)

  1. 一种自供能式主被动复合转动惯量驱动控制***，其特征在于，包括主动出力模块和被动出力模块，主动出力模块包括驱动器(1)、编码器(2)、变速器(3)和主动转动惯量圆盘(4)；被动出力模块包括扭转变阻尼箱(5)、发电机(6)、储能单元(7)和被动转动惯量圆盘(8)；A self-powered active and passive composite moment of inertia drive control system is characterized by comprising an active output module and a passive output module. The active output module includes a driver (1), an encoder (2), a transmission (3) and an active moment of inertia Disc (4); Passive output module includes torsion variable damping box (5), generator (6), energy storage unit (7) and passive moment of inertia disc (8);
    主动转动惯量圆盘(4)和被动转动惯量圆盘(8)之间设置有***管腔(9)，主动出力模块和被动出力模块沿***管腔(9)中心对称分布；A system lumen (9) is arranged between the active moment of inertia disc (4) and the passive moment of inertia disc (8), and the active output module and the passive output module are symmetrically distributed along the center of the system lumen (9);
    驱动器(1)固定在***管腔(9)内一侧，驱动器(1)一端安装有编码器(2)，另一端与变速器(3)连接，驱动器(1)的驱动轴穿过变速器(3)与主动转动惯量圆盘(4)的中心处垂直固定；The driver (1) is fixed on one side of the system lumen (9). One end of the driver (1) is equipped with an encoder (2), and the other end is connected with the transmission (3). The drive shaft of the driver (1) passes through the transmission (3). ) Is vertically fixed to the center of the active moment of inertia disc (4);
    扭转变阻尼箱(5)包括外连接板(11)、内连接板(12)、外套筒(13)、内套筒(14)和扭转弹簧(15)，外连接板(11)固定在被动转动惯量圆盘(8)中心处，内连接板(12)固定在***管腔(9)端部，内套筒(14)与内连接板(12)固定连接，外套筒(13)与外连接板(11)固定连接，内套筒(14)与外套筒(13)同轴，外套筒(13)套在内套筒(14)外侧，两端通过油封轴承封闭，两个套筒之间形成封闭的阻尼液仓，阻尼液仓内填充有阻尼液；扭转弹簧(15)设置于阻尼液仓内，沿内套筒(14)缠绕，一端与外连接板(11)固定，另一端固定在内套筒(14)上；The torsion variable damping box (5) includes an outer connecting plate (11), an inner connecting plate (12), an outer sleeve (13), an inner sleeve (14) and a torsion spring (15). The outer connecting plate (11) is fixed on At the center of the passive moment of inertia disc (8), the inner connecting plate (12) is fixed at the end of the system lumen (9), the inner sleeve (14) is fixedly connected with the inner connecting plate (12), and the outer sleeve (13) It is fixedly connected with the outer connecting plate (11), the inner sleeve (14) is coaxial with the outer sleeve (13), the outer sleeve (13) is sleeved outside the inner sleeve (14), and the two ends are closed by oil-sealed bearings. A closed damping liquid tank is formed between the two sleeves, and the damping liquid tank is filled with damping liquid; the torsion spring (15) is arranged in the damping liquid tank, wound along the inner sleeve (14), and one end is connected to the outer connecting plate (11) Fixed, the other end is fixed on the inner sleeve (14);
    发电机(6)固定在***管腔(9)内另一侧，与驱动器(1)同轴，发电机(6)转轴依次穿过***管腔(9)、内连接板(12)和内套筒(14)后与外连接板(11)固定连接；The generator (6) is fixed on the other side of the system lumen (9) and is coaxial with the driver (1). The generator (6) shaft passes through the system lumen (9), the inner connecting plate (12) and the inner The sleeve (14) is fixedly connected with the outer connecting plate (11);
    发电机(6)上还安装有储能单元(7)，储能单元(7)与驱动器(1)连接。An energy storage unit (7) is also installed on the generator (6), and the energy storage unit (7) is connected with the driver (1).
  2. 根据权利要求1所述的自供能式主被动复合转动惯量驱动控制***， 其特征在于，驱动器(1)通过驱动器固定架(10)固定在***管腔(9)内。The self-powered active and passive composite moment of inertia drive control system according to claim 1, characterized in that the driver (1) is fixed in the system lumen (9) through the driver fixing frame (10).
  3. 根据权利要求1所述的自供能式主被动复合转动惯量驱动控制***，其特征在于，发电机(6)通过发电机固定架(17)固定在***管腔(9)内。The self-powered active and passive composite moment of inertia drive control system according to claim 1, characterized in that the generator (6) is fixed in the system lumen (9) through a generator fixing frame (17).
  4. 根据权利要求1所述的自供能式主被动复合转动惯量驱动控制***，其特征在于，还包括控制器(18)，控制器(18)分别与储能单元(7)、发电机(6)、驱动器(1)和编码器(2)连接。The self-powered active and passive composite moment of inertia drive control system according to claim 1, characterized in that it further comprises a controller (18), the controller (18) is respectively connected with the energy storage unit (7) and the generator (6) , Driver (1) and encoder (2) are connected.
  5. 根据权利要求1所述的自供能式主被动复合转动惯量驱动控制***，其特征在于，外套筒(13)上设置有注液孔(16)，用于填充阻尼液。The self-powered active and passive composite moment of inertia drive control system according to claim 1, wherein the outer sleeve (13) is provided with a liquid injection hole (16) for filling the damping fluid.
  6. 根据权利要求1所述的自供能式主被动复合转动惯量驱动控制***，其特征在于，内套筒(14)和内连接板(12)均不与发电机(6)转轴发生接触。The self-powered active and passive composite moment of inertia drive control system according to claim 1, wherein the inner sleeve (14) and the inner connecting plate (12) are not in contact with the rotating shaft of the generator (6).
  7. 根据权利要求1所述的自供能式主被动复合转动惯量驱动控制***，其特征在于，主动转动惯量圆盘(4)和被动转动惯量圆盘(8)平行于被控结构(19)转动面。The self-powered active and passive composite moment of inertia drive control system according to claim 1, characterized in that the active moment of inertia disc (4) and the passive moment of inertia disc (8) are parallel to the rotating surface of the controlled structure (19) .
  8. 根据权利要求1所述的自供能式主被动复合转动惯量驱动控制***，其特征在于，主动转动惯量圆盘(4)和被动转动惯量圆盘(8)同轴转动，转动方向相反，产生相同方向的控制力。The self-powered active and passive composite moment of inertia drive control system according to claim 1, characterized in that the active moment of inertia disc (4) and the passive moment of inertia disc (8) rotate coaxially, and the rotation directions are opposite to produce the same Directional control.
  9. 根据权利要求1所述的自供能式主被动复合转动惯量驱动控制***，其特征在于，驱动器(1)为伺服电机或步进电机。The self-powered active and passive composite moment of inertia drive control system according to claim 1, wherein the driver (1) is a servo motor or a stepper motor.
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